function [vL,vR,vLo,vRo,aFig]=RFNN_EKF_cal_v5(xd,yd,dg,sig,x,y,car_angle,do,sio,xo,yo,dgd,dodd,sigd,siod)
    aph=0.6;
    b=0.098;
    S=[dg,do,sig,sio];
    dt=0.1;
    % 初始化静态变量
    persistent a;
    if isempty(a)
%         a=[0.74,0.66,0.71,0.28,0.1,0.69,0.95,0.44,0.77,0.19,0.45,0.71,0.28,0.66,0.12,0.96;
%             0.39,0.17,0.03,0.05,0.82,0.32,0.03,0.38,0.8,0.49,0.65,0.75,0.68,0.16,0.5,0.34];
            a=[0.11,0.14,0.17,0.62,0.57,0.05,0.93,0.73,0.74,0.06,0.86,0.93,0.98,0.86,0.79,0.51;
                0.18,0.40,0.13,0.03,0.94,0.30,0.30,0.33,0.47,0.65,0.03,0.84,0.56,0.85,0.35,0.45];
%             a=[0.44,0.63,0.21,0.64,0.97,0.70,0.88,0.93,0.95,0.52,0.18,0.82,0.05,0.13,0.93,0.28;
%                 0.94,0.68,0.67,0.38,0.87,0.56,0.30,0.85,0.78,0.97,0.98,0.60,0.01,0.26,0.31,0.23];
%         a=[-0.013,-0.035,0.069,-0.298,-0.2,0.438,0.163,-0.206,0.142,-0.07,0.442,0.235,0.538,-0.396,0.75,0.128;
%             -0.561,0.247,-0.033,0.499,-0.258,0.329,0.131,0.24,-0.343,0.138,-0.994,0.404,0.104,0.308,-0.523,0.14];
    end
    persistent k S_pre Fnk_pre Outputs_pre v_pre w_pre car_angle_pre;
    if isempty(k)
        k=0;
        S_pre=0;
        Fnk_pre=0;
        Outputs_pre=0;
        v_pre=0;
        w_pre=0;
        car_angle_pre=0;
    end
    %神经网络部分计算输出
    W=a*sum(S(:));
    [Outputs,Fnk]=RFNNpro_v(S,W);
    vR=Outputs(1)/(1+aph*abs(Outputs(1)));
    vL=Outputs(2)/(1+aph*abs(Outputs(2)));
    ran_error=-1+2*rand();
    vLo=vL+0.15*ran_error;
    ran_error=-1+2*rand();
    vRo=vR+0.15*ran_error;
    if(vLo>1.47)
        vLo=1.47;
    elseif(vLo<0.22)
        vLo=0;
    end
    if(vRo>1.47)
        vRo=1.47;
    elseif(vRo<0.22)
        vRo=0;
    end
    if(do<0.8)
        if(vR>vL)
            if(sio>0)
                vR=Outputs(2)/(1+aph*abs(Outputs(2)));
                vL=Outputs(1)/(1+aph*abs(Outputs(1)));
            end
        else
            if(sio<0)
                vR=Outputs(2)/(1+aph*abs(Outputs(2)));
                vL=Outputs(1)/(1+aph*abs(Outputs(1)));
            end
        end
    end
    if(k~=0)
        aIN=[a(1,:),a(2,:)];
        [dg_a,do_a,sig_a,sio_a]=jac_obt(aIN,Fnk_pre,S_pre,Outputs_pre,aph,b,car_angle_pre,xd,yd,x,y,v_pre,w_pre,xo,yo);
        aOUT=EKF_v4(dg_a,do_a,sig_a,sio_a,dg,do,sig,sio,aIN,dgd,dodd,sigd,siod);
        a=aOUT;
    end
    S_pre=sum(S(:));
    Fnk_pre=Fnk;
    Outputs_pre=Outputs;
    v_pre=(vLo+vRo)/2;
    w_pre=(vRo-vLo)/(2*b);
    car_angle_pre=car_angle;
    k=k+1;
    aFig=[a(1,:),a(2,:)];
end